The repository contains separate modules for the AndroJena, ARQoid and Lucenoid dependencies (see here for details), as well as the example "AndroidRules" project that already includes these modules.
The project was created to be usable out-of-the-box - just point Android Studio towards the project folder (File > Open...) and select the AndroidRules project.
In case of issues, try File > Invalidate Caches / Restart > Invalidate and Restart. After starting, clean the project (Build > Clean Project) and re-sync (File > Sync Project with Gradle Files).
See here for more info.